CN104309531B - Vehicle forward-looking system and using method thereof - Google Patents
Vehicle forward-looking system and using method thereof Download PDFInfo
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- CN104309531B CN104309531B CN201410517379.3A CN201410517379A CN104309531B CN 104309531 B CN104309531 B CN 104309531B CN 201410517379 A CN201410517379 A CN 201410517379A CN 104309531 B CN104309531 B CN 104309531B
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- 238000000034 method Methods 0.000 title claims description 32
- 230000003287 optical effect Effects 0.000 claims abstract description 26
- 230000001154 acute effect Effects 0.000 claims description 4
- 230000000295 complement effect Effects 0.000 claims description 4
- 238000007405 data analysis Methods 0.000 claims description 4
- 230000007547 defect Effects 0.000 description 5
- 230000003068 static effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
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- Mechanical Engineering (AREA)
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Abstract
The utility model provides a vehicle forward-looking system, includes camera, camera hood and reflector, the overhead guard in the camera hood includes horizontal roof and slope roof, the one end of slope roof is connected with the side connecting plate is perpendicular through horizontal roof, and the optical axis setting of the nearly camera of the other end, and the reflector of the nearly optical axis setting of fixedly connected with in its inboard. When the system is used, an A/B area image is obtained, the A area image refers to an image of a road surface near a vehicle, the B area image refers to an image of a view below a ground vanishing line in front of a camera, the A area image is processed to obtain road surface characteristic data near the vehicle, the B area image is processed according to the road surface characteristic data to obtain front lane line target data and vehicle target data, and the safety condition of a driving environment is analyzed according to the obtained data to control the vehicle. The design not only has stronger robustness of the acquired front lane line target data and the acquired vehicle target data, but also can acquire the image information of a near blind area and a far blind area simultaneously.
Description
Technical field
The present invention relates to automobile assistant driving system regions, particularly relate to viewing system and using method thereof before a kind of vehicle, it is particularly applicable to strengthen front lane line target data, the robustness of vehicle target data obtained.
Background technology
Automobile assistant driving system by judging the safety of travel conditions to environment information, if it find that there is the situation hindering driving safety, helps driver to realize safety traffic by warning or other intervention means.Automobile assistant driving system is the mobile even more at a distance or state of static target in typically requiring monitoring this front side 100 meters, detecting the relation between this car traveling-position and direction and road (track), promptly and accurately obtaining these information has very important meaning to the purpose assisting driver to realize safety traffic.
Automobile assistant driving system generally use monocular cam obtain traveling ahead environment image information, by the identifying processing of image to obtain the vehicle target information in traveling ahead environment and lane information.
On the one hand, in order to front vehicles target is recognized accurately, during image recognition processing, vehicle target to be identified in image is needed to have enough pixel counts, and in order to ensure that distance photographic head vehicle target farther out can have enough pixel counts, it is necessary to use the photographic head that visual angle is less, but when the photographic head using visual angle less monitors traveling ahead environment, the blind area that certain distance does not observes, i.e. near blind area is there will necessarily be in the certain distance nearby of photographic head front.
On the other hand, in order to front lane information and vehicle target information are recognized accurately, need to obtain pavement of road characteristic information exactly, this requires that the certain area in carriageway image can not be blocked by front vehicles, and in actual travel environment, outside this car certain distance, always have other vehicle to travel, they can obstruct the road on lane markings, hinder and road pavement information is accurately identified, the most remote blind area, cause obtain front lane line target data, vehicle target data robustness more weak.
Chinese patent, application publication number is CN102795162A, Shen Qing Publication day is that the application for a patent for invention on November 28th, 2012 discloses a kind of automobile and for the forward sight photographic head of automobile and formation method thereof, described forward sight photographic head includes an objective carrier, arranging an imager chip, a wiring board in described objective carrier, described imager chip is connected with described wiring board；Wherein, it also includes a camera lens module being arranged on described objective carrier, described camera lens module optical lens of corresponding described imager chip top position in including being arranged on described objective carrier, be arranged on the prism above described optical lens, be arranged between described optical lens and described prism for the shade avoiding described prismatic reflection light to interfere.Although this design can simultaneously view the image of headstock both sides by the setting of prism, improve driving safety, but its front vehicles that still can not solve easily to exist in remote blind area obstruct the road on lane markings, hinder and road pavement information is accurately identified, cause front lane line target data, the more weak defect of robustness of vehicle target data obtained.
Summary of the invention
It is an object of the invention to overcome front lane line target data, the more weak defect of robustness of vehicle target data and the problem obtained present in prior art, it is provided that the front lane line target data of a kind of acquisition, vehicle target data the stronger vehicle of robustness before viewing system and using method thereof.
For realizing object above, the technical solution of the present invention is: viewing system before a kind of vehicle, including photographic head, shooting head-shield and light microscopic, described shooting head-shield include side gussets and perpendicular with its upper and lower two ends be connected top cover plate, end cover plate, in shooting head-shield, the position between top cover plate, end cover plate is provided with the photographic head being connected with ECU signal, and the nearly photographic head of light microscopic is arranged；
Described light microscopic is illuminator, described top cover plate includes horizontal top and inclined roof panels, one end of described horizontal top is vertical with the top of side gussets to be connected, the other end of horizontal top is connected with one end of inclined roof panels, the optical axis of the nearly photographic head of the other end of inclined roof panels is arranged, and is fixedly connected with the illuminator that dipped beam axle is arranged in the inner side of inclined roof panels.
Described horizontal top, end cover plate, optical axis are parallel to each other two-by-two, and are formed with the overhead guard angle at obtuse angle between horizontal top, inclined roof panels；
The top nearly overhead guard angle of described illuminator is arranged, the top of illuminator overhead guard angle, photographic head camera lens between, the bottom dipped beam axle of illuminator is arranged, the bottom of illuminator is between inclined roof panels, optical axis, being formed with the minute surface angle of acute angle between bottom and the horizontal line of illuminator, this minute surface angle is complementary with overhead guard angle.
The bottom of described illuminator is intersected with optical axis, and the angle between bottom and the optical axis of illuminator is minute surface angle.
The using method of viewing system before a kind of above-mentioned vehicle, this using method includes that ECU obtains image, ECU processes image, ECU analyzes and controls successively；
Described image includes the image on the du vehicule road surface that A district image and B district image, described A district image refer to that photographic head shot by illuminator, and described B district image refers to the image of ground, the photographic head front following what comes into a driver's of vanishing line；
Described ECU obtains image and refers to: ECU first passes through photographic head and obtains comprising the A district image of running environment information, B district image；
Described ECU processes image and refers to: A district image is first processed by ECU, to obtain the road surface characteristic data of du vehicule, then processes B district image according to these road surface characteristic data, to obtain lane line target data in B district image, vehicle target data；
Described ECU analyzes and refers to control: the first road surface characteristic data according to above-mentioned gained of ECU, lane line target data, vehicle target data analysis go out the safe condition of running environment, then are controlled vehicle according to the safe condition of this running environment.
The area of described A district image is less than B district image.
Described A district image, the area ratio of B district image are 4:6.
Described ECU obtains image, and this step also includes that ECU obtains vehicle-state and operator information from CAN.
Described ECU analyzes and controls, and is controlled vehicle referring to that ECU sends warning and/or control instruction by CAN in this step.
Compared with prior art, the invention have the benefit that
null1、Before a kind of vehicle of the present invention, the light microscopic in viewing system and using method thereof is illuminator，Top cover plate includes horizontal top and inclined roof panels，One end of inclined roof panels is connected with side gussets after horizontal top，The optical axis of the nearly photographic head of the other end is arranged，And the illuminator that dipped beam axle is arranged it is fixedly connected with in the inner side of inclined roof panels，This design is in use，The image of photographic head shooting includes two parts，A part is the image on the du vehicule road surface through mirror reflection，The image of the nearlyest blind area，Another part is the image in photographic head front，The image of the most remote blind area，Now，Can be by the Image Acquisition pavement of road characteristic information of nearly blind area，According to this pavement of road characteristic information, the image of remote blind area is analyzed again，Thus overcome front vehicles in prior art obstruct the road on lane markings、Hinder the defect that road pavement information is accurately identified，And then strengthen the front lane line target data obtained、The robustness of vehicle target data.Therefore, the present invention obtains front lane line target data, the robustness of vehicle target data are stronger.
2, before a kind of vehicle of the present invention in viewing system and using method thereof by the image on road surface near illuminator collection vehicle to obtain pavement of road characteristic information, thus the defect that the robustness of front lane line target data in overcoming remote blind area, vehicle target data is more weak, but while overcoming, illuminator also overcomes the defect of nearly blind area in prior art simultaneously, it is possible to take the photograph to obtain neighbouring road surface, the image information of front what comes into a driver's with a photographic head simultaneously.Therefore, the present invention can obtain nearly blind area, the image information of remote blind area simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the application schematic diagram of the present invention.
Fig. 3 is the use flow chart of the present invention.
In figure: illuminator 1, photographic head 2, optical axis 21, camera lens 22, shooting head-shield 3, side gussets 31, top cover plate 32, horizontal top 321, inclined roof panels 322, end cover plate 33, overhead guard angle X, minute surface angle Y.
Detailed description of the invention
Illustrate that the present invention is further detailed explanation with detailed description of the invention below in conjunction with accompanying drawing.
See Fig. 1 and Fig. 2, viewing system before a kind of vehicle, including photographic head 2, shooting head-shield 3 and light microscopic, described shooting head-shield 3 include side gussets 31 and perpendicular with its upper and lower two ends be connected top cover plate 32, end cover plate 33, in shooting head-shield 3, the position between top cover plate 32, end cover plate 33 is provided with the photographic head 2 being connected with ECU signal, and the nearly photographic head of light microscopic 2 is arranged；
Described light microscopic is illuminator 1, described top cover plate 32 includes horizontal top 321 and inclined roof panels 322, one end of described horizontal top 321 is vertical with the top of side gussets 31 to be connected, the other end of horizontal top 321 is connected with one end of inclined roof panels 322, the optical axis 21 of the nearly photographic head of the other end 2 of inclined roof panels 322 is arranged, and is fixedly connected with the illuminator 1 that dipped beam axle 21 is arranged in the inner side of inclined roof panels 322.
Described horizontal top 321, end cover plate 33, optical axis 21 are parallel to each other two-by-two, and are formed with the overhead guard angle X at obtuse angle between horizontal top 321, inclined roof panels 322；The top nearly overhead guard angle X of described illuminator 1 is arranged, the top of illuminator 1 overhead guard angle X, photographic head 2 camera lens 22 between, the bottom dipped beam axle 21 of illuminator 1 is arranged, the bottom of illuminator 1 is between inclined roof panels 322, optical axis 21, being formed with the minute surface angle Y of acute angle between bottom and the horizontal line of illuminator 1, this minute surface angle Y is complementary with overhead guard angle X.
The bottom of described illuminator 1 is intersected with optical axis 21, and the angle between bottom and the optical axis 21 of illuminator 1 is minute surface angle Y.
Seeing Fig. 2 and Fig. 3, the using method of viewing system before a kind of above-mentioned vehicle, this using method includes that ECU obtains image, ECU processes image, ECU analyzes and controls successively；
Described image includes A district image and B district image, and described A district image refers to that photographic head 2 passes through the image on the du vehicule road surface that illuminator 1 shoots, and described B district image refers to the image of ground, the photographic head 2 front following what comes into a driver's of vanishing line；
Described ECU obtains image and refers to: ECU first passes through photographic head 2 and obtains comprising the A district image of running environment information, B district image；
Described ECU processes image and refers to: A district image is first processed by ECU, to obtain the road surface characteristic data of du vehicule, then processes B district image according to these road surface characteristic data, to obtain lane line target data in B district image, vehicle target data；
Described ECU analyzes and refers to control: the first road surface characteristic data according to above-mentioned gained of ECU, lane line target data, vehicle target data analysis go out the safe condition of running environment, then are controlled vehicle according to the safe condition of this running environment.
The area of described A district image is less than B district image.
Described A district image, the area ratio of B district image are 4:6.
Described ECU obtains image, and this step also includes that ECU obtains vehicle-state and operator information from CAN.
Described ECU analyzes and controls, and is controlled vehicle referring to that ECU sends warning and/or control instruction by CAN in this step.
The principle of the present invention is described as follows:
In vehicle travel process, the photographic head that existing automobile assistant driving system uses is when obtaining vehicle front lane line target data, vehicle target data, outside this car certain distance, always have other vehicle to travel, they can obstruct the road on lane markings, hindering and accurately identify road pavement information, i.e. remote blind area, the front lane line target data, the robustness of vehicle target data that cause obtaining are more weak.But simultaneously, in order to ensure safety traffic when vehicle travels, need to keep one to be scheduled on distance with front truck, will not be blocked apart from interior road surface at this, if able to obtain this road section surface characteristic, just can be used for strengthening front lane line target data, the robustness of vehicle target data on this basis.But in the prior art, it is the nearly blind area of photographic head here, cannot shoot under prior art.
For solving problem above, the present invention is provided with illuminator in shooting head-shield, and illuminator provides a part of what comes into a driver's by being reflected into photographic head, blocks a part of what comes into a driver's simultaneously and makes it can not enter photographic head to avoid interference the reflection of illuminator.Now, the image of photographic head shooting includes two parts: A district image and B district image.Wherein, A district image is photographic head (vehicle) front near zone pavement image information (with photographic head optical axis included angle, illuminator installation site, reflector size size, illuminator determines that photographic head can photograph regional extent nearby), will not be blocked by other mobile object, be used for obtaining pavement image feature；B district image includes that the image information of photographic head (vehicle) road ahead and other driving vehicle (can photograph the ground scenery picture of below ground vanishing line, sky scenery picture more than ground vanishing line because shooting head-shield block shooting less than), for lane information, vehicle or other move or the identification of static target information.
A district image does not the most have other mobile object and blocks, there is complete pavement image, believable pavement image feature can be obtained accordingly, using the foundation as B district image procossing, thus strengthen front lane line target data, the robustness of vehicle target data.
Embodiment 1:
nullSee Fig. 1 and Fig. 2，Viewing system before a kind of vehicle，Including illuminator 1、Photographic head 2 and shooting head-shield 3，Described shooting head-shield 3 includes side gussets 31 and the top cover plate 32 that be connected perpendicular with its upper and lower two ends、End cover plate 33，It is positioned at top cover plate 32 in shooting head-shield 3、Position between end cover plate 33 is provided with the photographic head 2 being connected with ECU signal，Described top cover plate 32 includes horizontal top 321 and inclined roof panels 322，Described horizontal top 321、The overhead guard angle X at obtuse angle it is formed with between inclined roof panels 322，Horizontal top 321、End cover plate 33、Optical axis 21 is parallel to each other two-by-two，One end of horizontal top 321 is vertical with the top of side gussets 31 to be connected，The other end of horizontal top 321 is connected with one end of inclined roof panels 322，The optical axis 21 of the nearly photographic head of the other end 2 of inclined roof panels 322 is arranged，The inner side of inclined roof panels 322 is fixedly connected with the illuminator 1 that dipped beam axle 21 is arranged，The top nearly overhead guard angle X of this illuminator 1 is arranged，The top of illuminator 1 is positioned at overhead guard angle X、Between the camera lens 22 of photographic head 2，The bottom dipped beam axle 21 of illuminator 1 is arranged，The bottom of illuminator 1 is positioned at inclined roof panels 322、Between optical axis 21，The minute surface angle Y of acute angle it is formed with between bottom and the horizontal line of illuminator 1，This minute surface angle Y is complementary with overhead guard angle X.
Seeing Fig. 2 and Fig. 3, the using method of viewing system before a kind of above-mentioned vehicle, this using method includes that ECU obtains image, ECU processes image, ECU analyzes and controls successively；
Described ECU obtains image and refers to: ECU first passes through photographic head 2 and obtains comprising the A district image of running environment information, B district image, and meanwhile, ECU obtains vehicle-state and operator information from CAN；Described A district image refers to that photographic head 2 passes through the image on the du vehicule road surface that illuminator 1 shoots, and described B district image refers to the image of ground, the photographic head 2 front following what comes into a driver's of vanishing line, and the area of A district image is less than B district image；
Described ECU processes image and refers to: A district image is first processed by ECU, to obtain the road surface characteristic data of du vehicule, then processes B district image according to these road surface characteristic data, to obtain lane line target data in B district image, vehicle target data；
Described ECU analyzes and refers to control: the first road surface characteristic data according to above-mentioned gained of ECU, lane line target data, vehicle target data analysis go out the safe condition of running environment, being controlled vehicle according to the safe condition of this running environment, this control refers to that ECU sends warning and/or control instruction by CAN again.
Claims (8)
1. viewing system before a vehicle, including photographic head (2), shooting head-shield (3) and light microscopic, described shooting head-shield (3) include side gussets (31) and perpendicular with its upper and lower two ends be connected top cover plate (32), end cover plate (33), the position being positioned between top cover plate (32), end cover plate (33) in shooting head-shield (3) is provided with the photographic head (2) being connected with ECU signal, and the nearly photographic head of light microscopic (2) is arranged, it is characterised in that:
Described light microscopic is illuminator (1), described top cover plate (32) includes horizontal top (321) and inclined roof panels (322), one end of described horizontal top (321) is vertical with the top of side gussets (31) to be connected, the other end of horizontal top (321) is connected with one end of inclined roof panels (322), the optical axis (21) of the nearly photographic head of the other end (2) of inclined roof panels (322) is arranged, and is fixedly connected with the illuminator (1) that dipped beam axle (21) is arranged in the inner side of inclined roof panels (322).
Viewing system before a kind of vehicle the most according to claim 1, it is characterised in that:
Described horizontal top (321), end cover plate (33), optical axis (21) are parallel to each other two-by-two, and are formed with the overhead guard angle (X) at obtuse angle between horizontal top (321), inclined roof panels (322)；
The top nearly overhead guard angle (X) of described illuminator (1) is arranged, the top of illuminator (1) is positioned between the camera lens (22) of overhead guard angle (X), photographic head (2), bottom dipped beam axle (21) of illuminator (1) is arranged, the bottom of illuminator (1) is positioned between inclined roof panels (322), optical axis (21), being formed with the minute surface angle (Y) of acute angle between bottom and the horizontal line of illuminator (1), this minute surface angle (Y) is complementary with overhead guard angle (X).
Viewing system before a kind of vehicle the most according to claim 2, it is characterised in that: the bottom of described illuminator (1) is intersected with optical axis (21), and the angle between bottom and the optical axis (21) of illuminator (1) is minute surface angle (Y).
4. the using method of viewing system before a kind of vehicle described in claim 1,2 or 3, this using method includes that ECU obtains image, ECU processes image, ECU analyzes and controls successively, it is characterised in that:
Described image includes A district image and B district image, and described A district image refers to that photographic head (2) passes through the image on the du vehicule road surface that illuminator (1) shoots, and described B district image refers to the image of photographic head (2) ground, the front following what comes into a driver's of vanishing line；
Described ECU obtains image and refers to: ECU first passes through photographic head (2) and obtains comprising the A district image of running environment information, B district image；
Described ECU processes image and refers to: A district image is first processed by ECU, to obtain the road surface characteristic data of du vehicule, then processes B district image according to these road surface characteristic data, to obtain lane line target data in B district image, vehicle target data；
Described ECU analyzes and refers to control: the first road surface characteristic data according to above-mentioned gained of ECU, lane line target data, vehicle target data analysis go out the safe condition of running environment, then are controlled vehicle according to the safe condition of this running environment.
The using method of viewing system before a kind of vehicle the most according to claim 4, it is characterised in that: the area of described A district image is less than B district image.
The using method of viewing system before a kind of vehicle the most according to claim 5, it is characterised in that: described A district image, the area ratio of B district image are 4:6.
The using method of viewing system before a kind of vehicle the most according to claim 4, it is characterised in that: described ECU obtains image, and this step also includes that ECU obtains vehicle-state and operator information from CAN.
The using method of viewing system before a kind of vehicle the most according to claim 4, it is characterised in that: described ECU analyzes and controls, and is controlled vehicle referring to that ECU sends warning and/or control instruction by CAN in this step.
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| CN201410517379.3A CN104309531B (en) | 2014-09-30 | 2014-09-30 | Vehicle forward-looking system and using method thereof |
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| CN201410517379.3A CN104309531B (en) | 2014-09-30 | 2014-09-30 | Vehicle forward-looking system and using method thereof |
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| CN104309531B true CN104309531B (en) | 2016-08-17 |
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| CN108322636A (en) * | 2017-12-29 | 2018-07-24 | 吉林大学 | A kind of speed estimator, vehicle and method of estimation based on machine vision |
| JP7063776B2 (en) * | 2018-08-28 | 2022-05-09 | 本田技研工業株式会社 | Imaging unit for vehicles |
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| CN2177253Y (en) * | 1993-05-14 | 1994-09-14 | 赵邑宁 | Camera and photograph multipurpose device |
| JP2005303693A (en) * | 2004-04-13 | 2005-10-27 | Auto Network Gijutsu Kenkyusho:Kk | Camera apparatus |
| JP2011109634A (en) * | 2009-06-17 | 2011-06-02 | Rohm Co Ltd | Vehicle-mounted camera |
| JP5459560B2 (en) * | 2011-06-27 | 2014-04-02 | アイシン精機株式会社 | Perimeter monitoring device |
| CN204136870U (en) * | 2014-09-30 | 2015-02-04 | 东风商用车有限公司 | Vehicle forward-looking system |
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